U.S. patent application number 16/395598 was filed with the patent office on 2020-10-29 for actively aligned solid-state lidar system.
This patent application is currently assigned to Continental Automotive Systems, Inc.. The applicant listed for this patent is Continental Automotive Systems, Inc.. Invention is credited to James Robert Massie, Elliot Smith.
Application Number | 20200341119 16/395598 |
Document ID | / |
Family ID | 1000004079231 |
Filed Date | 2020-10-29 |
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United States Patent
Application |
20200341119 |
Kind Code |
A1 |
Smith; Elliot ; et
al. |
October 29, 2020 |
ACTIVELY ALIGNED SOLID-STATE LIDAR SYSTEM
Abstract
A Lidar system includes a casing, a light emitter stationary
relative to the casing, and a photodetector pivotally supported by
the casing. The system includes a reflector assembly and the light
emitter is aimed at the reflector assembly. The reflector assembly
includes a rotational shaft and a reflector is fixed to the
rotational shaft. A rotational motor is engaged with the rotational
shaft. The aim of the photodetector may be adjusted, and the
rotational motor may independently adjust the reflector assembly to
correspondingly aim the reflector assembly.
Inventors: |
Smith; Elliot; (Ventura,
CA) ; Massie; James Robert; (Santa Barbara,
CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Continental Automotive Systems, Inc. |
Auburn Hills |
MI |
US |
|
|
Assignee: |
Continental Automotive Systems,
Inc.
Auburn Hills
MI
|
Family ID: |
1000004079231 |
Appl. No.: |
16/395598 |
Filed: |
April 26, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 7/4814 20130101;
G01S 7/4816 20130101; G01S 7/4813 20130101; G01S 7/4863 20130101;
G01S 7/4972 20130101; G01S 17/89 20130101; G01S 17/931
20200101 |
International
Class: |
G01S 7/481 20060101
G01S007/481; G01S 7/497 20060101 G01S007/497; G01S 17/93 20060101
G01S017/93; G01S 7/486 20060101 G01S007/486; G01S 17/89 20060101
G01S017/89 |
Claims
1. A system comprising: a casing; a light emitter stationary
relative to the casing; a photodetector pivotally supported by the
casing; a rotational motor supported by the casing; and a reflector
assembly including a rotational shaft and a reflector fixed to the
rotational shaft, the rotational shaft engaged with the rotational
motor and the reflector fixed to the rotational shaft, the light
emitter being aimed at the reflector assembly.
2. The system of claim 1, further comprising a second light emitter
stationary relative to the casing and a second photodetector
pivotally supported by the casing.
3. The system of claim 2, wherein the reflector assembly includes a
second reflector fixed to the rotational shaft.
4. The system of claim 3, wherein the light emitter is aimed at the
reflector and the second light emitter is aimed at the second
reflector.
5. The system of claim 2, wherein the light emitter and the second
light emitter are aimed at the reflector.
6. The system of claim 1, further comprising a housing supporting
the photodetector and pivotally engaged with the casing and an
actuator between the housing and the casing.
7. The system of claim 6, wherein the housing is pivotable relative
to the casing about a horizontal axis.
8. The system of claim 6, further comprising a second photodetector
pivotally supported by the housing.
9. The system of claim 1, further comprising a vibration dampener
engaged with the rotational shaft.
10. The system of claim 9, wherein the vibration dampener is
designed to dampen high-frequency vehicle vibration.
11. A method comprising: activating a light emitter aimed at the
reflector assembly including a rotational shaft and a reflector to
generate a field of illumination; receiving data from a
photodetector indicating detection of light from the light emitter
that was reflected by an object in a field of view of the
photodetector; adjusting a position of the photodetector; and
rotating the rotational shaft to align the field of illumination
with the field of view.
12. The method as set forth in claim 11, further comprising
activating a second light emitter aimed at the reflector assembly
to generate a second field of illumination and receiving data from
a second photodetector indicating detection of light from the light
emitter that was reflected by an object in a field of view of the
second photodetector.
13. The method as set forth in claim 12, wherein rotating the
rotational shaft includes rotating the rotational shaft to align
the second field of illumination with the field of view of the
second photodetector.
14. The method as set forth in claim 12, wherein the light emitter
and the second light emitter are aimed at the reflector of the
reflector assembly.
15. The method as set forth in claim 12, wherein the light emitter
is aimed at the reflector of the reflector assembly and the second
light emitter is aimed at a second reflector of the reflector
assembly.
16. The method as set forth in claim 11, further comprising
identifying changes in intensity of reflections in the field of
view as the rotational shaft is rotated and/or the photodetector is
adjusted.
17. The method as set forth in claim 11, further comprising
determining the rotational position of the rotational shaft and the
position of the photodetector that provide the maximum intensity of
light reflected by an object in the field of view.
18. The method as set forth in claim 11, wherein adjusting the
position of the photodetector includes vertically adjusting the
position of the photodetector and wherein rotating the rotational
shaft vertically aligning the field of illumination with the field
of view.
19. The method as set forth in claim 11, wherein adjusting the
position of the photodetector includes instructing an actuator to
pivot a housing relative to the casing, the housing supporting the
photodetector and pivotally supported by the casing.
20. A controller comprising a processor and a memory storing
instructions executable by the processor, wherein the processor is
programmed to: activate a light emitter aimed at the reflector
assembly including a rotational shaft and a reflector to generate a
field of illumination; receive data from a photodetector indicating
detection of light from the light emitter that was reflected by an
object in a field of view of the photodetector; adjust a position
of the photodetector; and rotate the rotational shaft to align the
field of illumination with the field of view.
21. The controller as set forth in claim 20, wherein the processor
is programmed to activate a second light emitter aimed at the
reflector assembly to generate a second field of illumination and
receive data from a second photodetector indicating detection of
light from the light emitter that was reflected by an object in a
field of view of the second photodetector.
22. The controller as set forth in claim 21, wherein the processor
is programmed to rotate the rotational shaft to align the second
field of illumination with the field of view of the second
photodetector.
23. The controller as set forth in claim 20, wherein the processor
is programmed to identify changes in intensity of reflections in
the field of view as the rotational shaft is rotated and/or the
photodetector is adjusted.
24. The controller as set forth in claim 20, wherein the processor
is programmed to determine the rotational position of the
rotational shaft and the position of the photodetector that provide
the maximum intensity of light reflected by an object in the field
of view.
25. The controller as set forth in claim 20, wherein the processor
is programmed to vertically adjust the position of the
photodetector and vertically align the field of illumination with
the field of view.
26. The controller as set forth in claim 20, wherein the processor
is programmed to instruct an actuator to pivot a housing relative
to the casing, the housing supporting the photodetector and
pivotally supported by the casing.
Description
BACKGROUND
[0001] A solid-state Lidar system includes a photodetector, or an
array of photodetectors that is essentially fixed in place relative
to a carrier, e.g., a vehicle. Light is emitted into the field of
view of the photodetector and the photodetector detects light that
is reflected by an object in the field of view. For example, a
Flash Lidar system emits pulses of light, e.g., laser light, into
essentially the entire field of view. The detection of reflected
light is used to generate a 3D environmental map of the surrounding
environment. The time of flight of the reflected photon detected by
the photodetector is used to determine the distance of the object
that reflected the light.
[0002] The solid-state Lidar system may be mounted on a vehicle to
detect objects in the environment surrounding the vehicle and to
detect distances of those objects for environmental mapping. The
output of the solid-state Lidar system may be used, for example, to
autonomously or semi-autonomously control operation of the vehicle,
e.g., propulsion, braking, steering, etc. Specifically, the system
may be a component of or in communication with an advanced
driver-assistance system (ADAS) of the vehicle.
[0003] Since the solid-state Lidar system is fixed in place
relative to the vehicle, ride-height and/or angle of the vehicle
can change the aim of the field of view. The ride-height and/or
angle of the vehicle may change, e.g., from changes in weight
and/or center of gravity. This may be caused by, for example,
varying weight, location, and/or age of occupants, varying weight
and/or location of cargo, changes in an active-suspension system of
the vehicle, changes in an active-ride-handling system of the
vehicle, etc. Difficulties can arise in properly aiming the
vertically-narrow field of view during such changes in the vehicle
and over the lifetime of the vehicle.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] FIG. 1 is a perspective view of a vehicle with a Lidar
system showing a 3D map of the objects detected by the Lidar
system.
[0005] FIG. 2 is a perspective view of the Lidar system including a
casing (shown in hidden lines) and a housing that houses a
photodetector and pivots relative to the casing.
[0006] FIG. 3 is a perspective view of another embodiment of the
Lidar system including a casing and a housing that houses a
photodetector and pivots relative to the casing.
[0007] FIG. 4 is a perspective view of the Lidar system of FIG. 3
with the casing shown in hidden lines.
[0008] FIG. 5 is a cross-sectional view along line 5 in FIG. 3.
[0009] FIG. 6 is a cross-sectional view along line 6 in FIG. 3.
[0010] FIG. 7 is a perspective view of another embodiment of the
Lidar system including a casing (shown in hidden lines) and a
housing that houses a photodetector and pivots relative to the
casing.
[0011] FIG. 8 is a cross-sectional view of the system in FIG.
7.
[0012] FIG. 9 is a schematic of the operation of the embodiment in
FIGS. 7 and 8.
[0013] FIG. 10 is a cross-sectional view of another embodiment of
the Lidar system.
[0014] FIG. 11 is a schematic of the operation of the embodiment in
FIG. 10.
[0015] FIG. 12 is an embodiment of a rotational motor and reflector
assembly.
[0016] FIG. 13 is another embodiment of a rotational motor and
reflector assembly.
[0017] FIG. 14 is another embodiment of a rotational motor and
reflector assembly.
[0018] FIG. 15 is a block diagram of the Lidar system in FIG.
3.
[0019] FIG. 16 is a flow chart of a method for the Lidar
system.
DETAILED DESCRIPTION
[0020] With reference to the Figures, wherein like numerals
indicate like parts throughout the several views, a system 10 is
generally shown. Specifically, the system 10 is a light detection
and ranging (Lidar) system. The system 10 includes a casing 12, a
light emitter 14 stationary relative to the casing 12, and a
photodetector 16 pivotally supported by the casing 12. The system
10 includes a rotational motor 18 supported by the casing 12. A
reflector assembly 20 includes a rotational shaft 22 and a
reflector 24 fixed to the rotational shaft 22. The rotational shaft
22 is engaged with the rotational motor 18 and the reflector 24 is
fixed to the rotational shaft 22. The light emitter 14 is aimed at
the reflector assembly 20. The photodetector 16 may be pivoted
relative to the casing 12 to adjust a field of view FOV of the
photodetector 16 and the rotational shaft 22 may be turned to
adjust a field of illumination FOI created by the light emitter 14
to align the field of illumination FOI with the field of view
FOV.
[0021] The system 10 independently adjusts the aim of the field of
illumination FOI and the aim of the field of view FOV to align the
field of illumination FOI and the field of view FOV. This alignment
may be performed repeatedly and in the field, i.e., during use of
the system 10, such that the system 10 can recalibrate the relative
positions of the field of illumination FOI and field of view FOV in
the field, e.g., before, during, and/or after operation. For
example, the system 10 may be mounted on a vehicle 26 and the
alignment of the field of illumination FOI and the field of view
FOV may be performed at any suitable time, e.g., before, during,
and/or after operation of the vehicle 26.
[0022] As set forth further below, the system 10 may include more
than one photodetector 16, more than one light emitter 14, and more
than one reflector 24 on the rotational shaft 22. For each of these
components, common numerals are used to identify the elements and
separate alphabetical identifiers are used to distinguish the
common elements.
[0023] The system 10 may vertically adjust the field of
illumination FOI and the field of view FOV. As examples, changes in
the ride-height and/or angle of the vehicle 26 may be caused by
changes in weight, center of gravity of the vehicle 26. This may be
caused by, for example, varying weight, location, and/or age of
occupants, varying weight and/or location of cargo, changes in an
active-suspension system of the vehicle 26, changes in an
active-ride-handling system of the vehicle 26, etc. In such an
event, the field of view FOV may be vertically adjusted to a
desired vertical position, and the field of illumination FOI may be
independently vertically adjusted to align the field of
illumination FOI with the field of view FOV. Specifically, due to
the requirement of a high-resolution Lidar system, the height of
the vertical aim of the field of view FOV may be limited, and the
system 10 allows for adjustment of the vertical aim of the system
10. This improves the system 10 requirements on the field of view
FOV. The system 10 adjusts the field of illumination FOI to align
with the field of view FOV.
[0024] The system 10 detects the emitted light that is reflected by
an object in the fields of view FOV, e.g., pedestrians, street
signs, vehicles, etc. The system 10 is shown in FIG. 1 as being
mounted on a vehicle 26. In such an example, the system 10 is
operated to detect objects in the environment surrounding the
vehicle 26 and to detect distance of those objects for
environmental mapping. The output of the system 10 may be used, for
example, to autonomously or semi-autonomously control operation of
the vehicle 26, e.g., propulsion, braking, steering, etc.
Specifically, the system 10 may be a component of or in
communication with an advanced driver-assistance system (ADAS) of
the vehicle 26. The system 10 may be mounted on the vehicle 26 in
any suitable position (as one example, the system 10 is shown on
the front of the vehicle 26 and directed forward). The vehicle 26
may have more than one system 10 and/or the vehicle 26 may include
other object detection systems, including other Lidar systems. The
vehicle 26 is shown in FIG. 1 as including a single system 10 aimed
in a forward direction merely as an example. The vehicle 26 shown
in the Figures is a passenger automobile. As other examples, the
vehicle 26 may be of any suitable manned or un-manned type
including a plane, satellite, drone, watercraft, etc.
[0025] The system 10 may be a solid-state Lidar system. In such an
example, the system 10 is stationary relative to the vehicle 26.
For example, the casing 12 that is fixed relative to the vehicle
26, i.e., does not move relative to the component of the vehicle 26
to which the casing 12 is attached, and a silicon substrate of the
system 10 is supported by the casing 12.
[0026] As a solid-state Lidar system 10, the system 10 may be a
flash Lidar system. In such an example, the system 10 emits pulses
of light into the field of illumination FOI. More specifically, the
system 10 may be a 3D flash Lidar system 10 that generates a 3D
environmental map of the surrounding environment, as shown in part
in FIG. 1. An example of a compilation of the data into a 3D
environmental map is shown in the field of view FOV and the field
of illumination FOI in FIG. 1.
[0027] With reference to FIG. 15, the system 10 may include a
controller 28. The controller 28 is in communication with the light
emitter 14 and the rotational motor 18 for controlling the emission
of light from the light emitter 14 and the aim of the field of
illumination FOI. The controller 28 may be in communication with
the photodetector 16 for receiving detection of reflected light in
the field of view FOV.
[0028] Specifically, the controller 28 may instruct the light
emitter 14 to emit light and substantially simultaneously initiates
a clock. When the light is reflected, i.e., by an object in the
field of view FOV, the photodetector 16 detects the reflected light
and communicates this detection to the controller 28, which the
controller 28 uses to identify object location and distance to the
object (based time of flight of the detected photon using the clock
initiated at the emission of light from the light source). Each
photodetector 16 may operation in this fashion. The controller 28
uses these outputs from the photodetectors 16 to create the
environmental map and/or communicates the outputs from the
photodetectors 16 to the vehicle 26, e.g., components of the ADAS,
to create the environmental map. Specifically, the controller 28
continuously repeats the light emission and detection of reflected
light for building and updating the environmental map.
[0029] The controller 28 may be a microprocessor-based controller
or field programmable gate array (FPGA), or a combination of both,
implemented via circuits, chips, and/or other electronic
components. In other words, the controller 28 is a physical, i.e.,
structural, component of the system 10. For example, the controller
28 may include a processor, memory, etc. The memory of the
controller 28 may store instructions executable by the processor,
i.e., processor-executable instructions, and/or may store data. The
controller 28 may be in communication with a communication network
of the vehicle 26 to send and/or receive instructions from the
vehicle 26, e.g., components of the ADAS.
[0030] With reference to FIG. 1, the light emitter 14 emits light
into fields of illumination FOI for detection by the photodetector
16 when the light is reflected by an object in the field of view
FOV. The light emitter 14 may be, for example, a laser. The light
emitter 14 may be, for example, a semiconductor laser. In one
example, the light emitter 14 is a vertical-cavity surface-emitting
laser (VCSEL). As another example, the light emitter 14 may be a
diode-pumped solid-state laser (DPSSL). As another example, the
light emitter 14 may be an edge emitting laser diode. The light
emitter 14 may be designed to emit a pulsed flash of light, e.g., a
pulsed laser light. Specifically, the light emitter 14, e.g., the
VCSEL or DPSSL or edge emitter, is designed to emit a pulsed laser
light. The light emitted by the light emitter 14 may be, for
example, infrared light. Alternatively, the light emitted by the
light emitter 14 may be of any suitable wavelength. The system 10
may include any suitable number of light emitters, i.e., one or
more in the casing 12. In examples that include more than one light
emitter 14, the light emitters 14 may be identical or
different.
[0031] As set forth above, the light emitter 14 is aimed at the
reflector assembly 20. In other words, light from the light emitter
14 is reflected by one of the reflectors 24 of the reflector
assembly 20. The light emitter 14 may be aimed directly at the
reflector assembly 20 or may be aimed indirectly at the reflector
assembly 20 through intermediate reflectors/deflectors, diffusers,
optics, etc.
[0032] With reference to FIG. 2, the light emitter 14 may be
stationary relative to the casing 12. In other words, the light
emitter 14 does not move relative to the casing 12 during operation
of the system 10, e.g., during light emission. The light emitter 14
may be mounted to the casing 12 in any suitable fashion such that
the light emitter 14 and the casing 12 move together as a unit.
[0033] The system 10 includes one or more cooling devices 30 for
cooling the light emitter 14. For example, the system 10 may
include a heat sink (shown in FIG. 4) on the casing 12 adjacent the
light emitter 14. The heat sink may include, for example, a wall
adjacent the light emitter 14 and fins extending away from the wall
exterior to the casing 12 for dissipating heat away from the light
emitter 14. The wall and/or fins, for example, may be material with
relatively high heat conductivity. The light emitter 14 may, for
example, abut the wall to encourage heat transfer. In addition or
in the alternative, the fins, the system 10 may include additional
cooling devices 30, e.g. thermal electric coolers (TEC).
[0034] With reference to FIG. 2, the reflector 24 of the reflector
assembly 20 is aimed at the field of view FOV of the photodetector
16. In other words, the field of illumination FOI from the
reflector 24 overlaps the field of view FOV of the photodetector
16, e.g., the field of illumination FOI is centered on the field of
view FOV. The reflector 24 may directly reflect light from the
light emitter 14 to the field of illumination FOI or may indirectly
reflect light to the field of illumination FOI, i.e., through
intermediate reflectors/deflectors, optics, etc. In examples that
include more than one reflector 24, the reflectors 24 may be
identical or different.
[0035] As set forth above, the assembly includes a rotational motor
18 supported by the casing 12. The rotational shaft 22 of the
reflector assembly 20 is engaged with the rotational motor 18. In
other words, the rotational motor 18 rotates the rotational shaft
22 for moving the reflector 24 on the rotational shaft 22. The
rotational motor 18 may be fixed directly to the casing 12 or may
be supported by the casing 12 through an intermediate component. A
base 32 of the rotational motor 18 may be fixed relative to the
casing 12. The rotational motor 18 may be controlled by the
controller 28, as described below. The rotational motor 18 may be
an electric motor. For example, the rotational motor 18 may be a
step motor or a piezoelectric motor.
[0036] As set forth above, the reflector 24 is fixed to the
rotational shaft 22. In other words, the reflector 24 moves as a
unit with the rotational shaft 22. The reflector 24 may be a mirror
(e.g., a mirror with a stationary reflective surface), a reflective
diffuser, etc.
[0037] The rotational shaft 22 is driven by the rotational motor
18. The rotational shaft 22 has an end that engages the rotational
motor 18, i.e., is driven by the rotational motor 18. The other end
of the shaft may be free, i.e., cantilevered (e.g., see FIGS. 1, 5,
6) or may be supported by the casing 12, i.e., in addition to being
supported at the rotational motor 18 (e.g., see FIGS. 8 and
10).
[0038] With reference to FIGS. 12-14, the rotational motor 18
and/or the reflector assembly 20 may include a vibration dampener
34 engaged with the rotational shaft 22. The vibration dampener 34
is designed to dampen high-frequency vehicle vibration.
High-frequency vehicle vibration may be caused by operation of the
vehicle 26, i.e., driving of the vehicle 26 on a driving surface.
The high-frequency vehicle vibration is caused by the wheels of the
vehicle 26 rolling on the driving surface and is affected by other
components of the vehicle 26 such as suspension system components.
This dampening of the high-frequency vehicle vibration limits or
eliminates vibration of the reflector 24 during operation of the
vehicle 26. The vibration dampener 34 may be between the rotational
motor 18 and the rotational shaft 22, e.g., FIGS. 13 and 14.
[0039] With reference to FIG. 12, the vibration dampener 34 may be
a dampening housing 36 that receives the rotational shaft 22.
Specifically, one end of the rotational shaft 22 is driving by the
motor and the other end of the rotational shaft 22 is engaged with
the dampening housing 36. The dampening housing 36 may include
hydraulic gearing, a roller vane, an orbiting gerotor, a radial
piston, a rotary abutment, etc., for dampening vibration in the
rotational shaft 22.
[0040] As another example, with reference to FIG. 13, the vibration
dampener 34 may be housed in the base 32 of the rotational motor
18. In such an example, an end of the rotational shaft 22 that
engages the rotational motor 18 also engages the vibration dampener
34. The rotational shaft 22 may have a free end, i.e., a
cantilevered end. The vibration dampener 34 in the housing 44 of
the rotational motor 18 may include hydraulic gearing, a roller
vane, an orbiting gerotor, a radial piston, a rotary abutment,
etc., for dampening vibration in the rotational shaft 22.
[0041] As another example, with reference to FIG. 14, the vibration
dampener 34 may be a torsion spring 38 fixed to the rotational
motor 18 and the rotational shaft 22. In this example, the torsion
spring 38 is loaded to exert a bias against the rotational shaft 22
to dampen vibration in the rotational shaft 22.
[0042] With reference to FIG. 2, the system 10 may include a
stationary reflectors 40 fixed relative to the casing 12 (see FIGS.
2, 4-8, 10). As an example, the stationary reflector 40 may be
between the light emitter 14 and the reflector 24 of the reflector
assembly 20. In such an example, the stationary reflector 40 is
aimed at the reflector 24 of the reflector assembly 20 to reflect
light from the light emitter 14 to the reflector 24 of the
reflector assembly 20. The stationary reflector 40 may be, for
example, a reflective diffuser, a mirror, etc. As another example,
in the alternative to the stationary reflectors 40, the light
emitter 14 may be directly aimed at the reflector 24. In examples
that include more than one stationary reflector 40, the stationary
reflectors 40 may be identical or different.
[0043] The system 10 may include a refractive diffuser 42 fixed to
the casing 12. The reflector 24 of the reflector assembly 20 is
aimed at the refractive diffuser 42 and the refractive diffuser 42
diffuses light into the field of illumination FOI.
[0044] The photodetector 16 is in the casing 12. The system 10 may
also include receiving optics, e.g., lenses, filters, etc., fixed
to the casing 12 and designed to receive reflected light from the
field of view FOV.
[0045] The photodetector 16 has a field of view FOV. In examples
that include more than one photodetector 16, at least some of the
photodetectors 16 may be aimed in different directions. As another
example, some photodetectors 16 may be aimed in the same direction
to provide overlapping fields of view FOV, in which case one field
of view FOV may be longer than the other, e.g., for long-range and
short-range detection. In examples that include more than one light
emitter 14, the light emitters 14 may be identical or
different.
[0046] For the purpose of this disclosure "photodetector" includes
a single photodetector 16 or an array of photodetectors (including
1D arrays, 2D arrays, etc.). The photodetector 16 may be, for
example, an avalanche photodiode detector or PIN detector. As one
example, the photodetector 16 may be a single-photon avalanche
diode (SPAD). The field of view FOV is the area in which reflected
light may be sensed by the photodetector 16. Light reflected in the
field of view FOV is reflected to the photodetector 16, e.g.,
through receiving optics.
[0047] As set forth above, the reflector 24 of the reflector
assembly 20 reflects light from the light emitter 14 into a field
of illumination FOI. The field of illumination FOI is the area
exposed to light that is emitted from the light-transmitting unit.
The field of illumination FOI is aimed to overlap the field of view
FOV. In other words, as least part of the field of view FOV and at
least part of the field of illumination FOI occupy the same space
such that an object in the overlap will reflect light from the
field of illumination FOI back to the photodetector 16. The field
of illumination FOI may be smaller than, larger than, or
substantially match the same size as the field of view FOV
("substantially match" is based on manufacturing capabilities and
tolerances of the light-transmitting unit and the light-receiving
unit).
[0048] The system 10 aligns the field of view FOV of the
photodetector 16 and the field of illumination FOI of the
transmitter 14. In other words, the system 10 positions the field
of view FOV and the field of illumination FOI to a desired relative
position, e.g., vertically adjusts the field of view FOV and field
of illumination FOI. As one example, the field of view FOV and the
field of illumination FOI are "aligned" when positioned such that
the maximum intensity of reflected light in the field of view FOV
is detected by the photodetector 16. The field of view FOV and the
field of illumination FOI may be centered to the positions that
provide the maximum detected intensity.
[0049] The system 10 independently adjusts the vertical aim of the
field of illumination FOI and the vertical aim of the field of view
FOV to align the field of illumination FOI and the field of view
FOV. This alignment may be performed repeatedly and in the field,
i.e., during use of the system 10, such that the system 10 can
recalibrate the relative positions of the field of illumination FOI
and field of view FOV in the field, e.g., before, during, and/or
after operation. For example, the system 10 may be mounted on a
vehicle 26 and the alignment of the field of illumination FOI and
the field of view FOV may be performed at any suitable time, e.g.,
before, during, and/or after operation of the vehicle 26. As
examples, changes in the ride-height and/or angle of the vehicle 26
may be caused by changes in weight, center of gravity of the
vehicle 26. This may be caused by, for example, varying weight,
location, and/or age of occupants, varying weight and/or location
of cargo, changes in an active-suspension system of the vehicle 26,
changes in an active-ride-handling system of the vehicle 26, etc.
In such an event, the field of view FOV may be adjusted to a
desired vertical position, and the field of illumination FOI may be
independently adjusted to align the field of illumination FOI with
the field of view FOV. Specifically, due to the requirement of a
high-resolution Lidar system, the height of the vertical aim of the
field of view FOV may be limited, and the system 10 allows for
adjustment of the vertical aim of the system 10. This improves the
system 10 requirements on the field of view FOV. The system 10
adjusts the field of illumination FOI to align with the field of
view FOV.
[0050] For example, with reference to FIGS. 1-11, the system 10
includes a housing 44 that supports the photodetector 16. In other
words, the photodetector 16 is fixed relative to the housing 44 and
moves as a unit with the housing 44. The housing 44 is pivotally
supported about a horizontal axis A by the casing 12. Accordingly,
the housing 44 can be pivoted (i.e., tilted, swiveled, etc.)
relative to the housing 44 to simultaneously adjust the vertical
aim of the photodetector 16. Specifically, the housing 44 may be
pivotally engaged with the casing 12, i.e., directly in contact
with the housing 44, or may be coupled to the housing 44 through an
intermediate component.
[0051] Specifically, the housing 44 is pivotable relative to the
casing 12 about a horizontal axis A, i.e., can swivel, tilt, etc.,
about the horizontal axis A. Specifically, horizontal pivot points
46, i.e., pivot points 46 that allow for pivoting about a
horizontal axis A, connect the housing 44 to the casing 12. The
horizontal pivot points 46 are spaced from each other along a
horizontal axis A. The casing 12 and/or the housing 44 may include
brackets 48 that support the horizontal pivot points 46.
[0052] The housing 44 may be horizontally fixed to the casing 12,
i.e., does not move relative to the casing 12 about a vertical
axis. As another example, the housing 44 may be movable relative to
the casing 12 about a vertical axis to horizontally selectively
steer the field of illumination FOI, and in such an example, the
housing 44 may be movable through a fixed range of angles, e.g.,
less than 180.degree. . In other words, system 10 is not a
360.degree. scanning system 10.
[0053] The system 10 may include an actuator 50 between the housing
44 and the casing 12. The actuator 50 is configured to pivot the
photodetector 16 relative to the casing 12, i.e., to vertically
adjust the photodetector 16. The actuator 50 is between the housing
44 and the casing 12 for pivoting the housing 44 relative to the
casing 12. For example, the actuator 50 may be fixed to the casing
12 and the housing 44 to move the casing 12 and the housing 44
relative to each other about the horizontal pivot points.
[0054] The actuator 50 may be, for example, an electric motor. As
one example, the actuator 50 may include a base 52 fixed to one of
the casing 12 and the housing 44 and a plunger 54 fixed to the
other of the casing 12 and the housing 44. The actuator 50 may be
powered to retract the plunger 54 into the base or extend the
plunger 54 from the base 52 to move the housing 44 relative to the
casing 12. In such an example, the actuator 50 is spaced from the
horizontal pivot points 46 such that force exerted between the
casing 12 and the housing 44 by the actuator 50 moves the casing 12
and the housing 44 about the horizontal pivot points 46. As another
example, the actuator 50 may provide a rotary input to the housing
44. For example, the actuator 50 may be between the housing 44 and
the casing 12 at one or both horizontal pivot points 46 and may
exert a rotational force at the horizontal pivot point 46 to rotate
the housing 44 relative to the casing 12.
[0055] The rotational motor 18 and reflector assembly 20 are
operable to align the field of illumination FOI with the field of
view FOV of the photodetector 16. Specifically, the rotational
motor 18 rotationally adjusts the rotational shaft 22 to steer the
light beam vertically.
[0056] With reference to FIGS. 2-5, the casing 12 may, for example,
enclose the other components of the system 10 and may include
mechanical attachment features to attach the casing 12 to the
vehicle 26 and electronic connections to connect to and communicate
with electronic systems of the vehicle 26, e.g., components of the
ADAS. The casing 12, for example, may be plastic or metal and may
protect the other components of the system 10 from environmental
precipitation, dust, etc. The system 10 may be a unit. In other
words, the light source, the photodetectors 16, and the controller
28 may be supported by the casing 12.
[0057] One embodiment of the system 10 is shown in FIG. 2, another
embodiment is shown in FIGS. 4-6, another embodiment is shown in
FIGS. 7-8, and another embodiment is shown in FIG. 10. Common
numerals are used to identify common features among the
embodiment.
[0058] With reference to FIG. 2, the system 10 may include one
light emitter 14, one reflector 24 on the reflector assembly 20,
and one photodetector 16. In this example, the field of view FOV of
the photodetector 16 may be vertically adjusted by pivoting the
housing 44, and the field of illumination FOI may be aligned with
the field of view FOV by rotationally adjusting the rotational
motor 18.
[0059] With reference to FIGS. 4-6, the system 10 may include two
light emitters 14A, 14B, one reflector 24 on the rotational shaft
22, and two photodetectors 16A, 16B. The photodetectors 16A, 16B
may each have a field of view FOV, as shown in FIG. 9. One of the
light emitters 14 creates a field of illumination FOI for one of
the photodetectors 16, and the other light emitter 14 creates a
field of illumination FOI for the other photodetector 16. In FIGS.
4-6, both light emitters 14A, 14B are aimed at the reflector 24.
The reflector 24 may reflect both light beams through one
refractive diffuser 42. The photodetectors 16A, 16B are both fixed
to the housing 44 and are simultaneously adjusted when the housing
44 is pivoted. Rotation of the rotational motor 18 adjusts the
position of the reflector 24 to steer light from both lasers.
[0060] With reference to FIGS. 7 and 8, the system 10 may include
two light emitters 14A, 14B, two reflectors 24A, 24B on the
rotational shaft 22, and two photodetectors 16A, 16B. The
photodetectors 16A, 16B may each have a field of view FOV, as shown
in FIG. 9. One of the light emitters 14 creates a field of
illumination FOI for one of the photodetectors 16, and the other
light emitter 14 creates a field of illumination FOI for the other
photodetector 16. In FIGS. 7 and 8, one light emitter 14 is aimed
at one reflector 24 and the other light emitter 14 is aimed at the
other reflector 24. The reflectors 24A, 24B may reflect both light
beams through one refractive diffuser 42. The photodetectors 16A,
16B are both fixed to the housing 44 and are simultaneously
adjusted when the housing 44 is pivoted. Rotation of the rotational
motor 18 adjusts the position of the reflectors 24A, 24B to steer
light from both lasers.
[0061] With reference to FIG. 10, the system 10 may include four
light emitters 14A, 14B, 14C, 14C, four reflectors 24A, 24B, 24C,
24D on the rotational shaft 22, and four photodetectors 16A, 16B,
16C, 16D. The photodetectors 16A, 16B, 16C, 16D may each have a
field of view FOV, as shown in FIG. 11. Each light emitter 14 is
dedicated to one photodetector 16. In FIG. 10, one light emitter 14
is aimed at each reflector 24. The reflectors 24 may reflect the
four light beams through one refractive diffuser 42. The four
photodetectors 16A, 16B, 16C, 16D are fixed to the housing 44 and
are simultaneously adjusted when the housing 44 is pivoted.
Rotation of the rotational motor 18 adjusts the position of the
four reflectors 24A, 24B, 24C, 24D to steer light from the four
lasers.
[0062] As set forth above, the controller 28 is schematically shown
in FIG. 15. The controller 28, i.e., the processor of the
controller 28, is programmed to execute instructions stored in
memory of the controller 28.
[0063] The controller 28 is programmed to receive data from the
photodetectors 16 indicating detection of light from the light
emitter 14 that was reflected by an object in the field of
illumination FOI. As described above, this data is used for
environmental mapping.
[0064] The controller 28 is programmed to adjust the vertical aim
of the photodetector 16 (i.e., to vertically adjust field of view
FOV) and the vertical aim of the field of illumination FOI, i.e.,
the vertical aim of the reflector 24. Specifically, the controller
28 is in communication with the actuator 50 for vertically
adjusting the aim of the photodetectors 16.
[0065] The controller 28 may be programmed to receive indication
that the field of view FOV needs adjustment. For example, it may be
detected that the field of view FOV is vertically offset from a
horizontal position, e.g., horizon, to a degree that the field of
view FOV needs to be readjusted. As an example, the field of view
FOV may change when the ride-height and/or angle of the vehicle 26
change, as described above. In response to such an indication, the
controller 28 adjusts the position of the photodetector 16. For
example, the controller 28 pivots the photodetector 16 to
vertically position the field of view FOV to a desired position,
e.g., to a horizontal position. Specifically, the controller 28 may
pivot the housing 44 relative to the casing 12, which adjusts the
field of view FOV of the photodetector 16 because the photodetector
16 moves as a unit with the housing 44. For example, the controller
28 may be programmed to power the actuator 50 to pivot the housing
44. In the example in which the actuator 50 is the motor, the
actuator 50 may be powered to extend or retract the plunger 54 to
move the housing 44 relative to the casing 12.
[0066] Based on this adjustment, the controller 28 is programmed to
adjust the positions of the rotational motor 18 to vertically
adjust the field of illumination FOI to align the field of
illumination FOI with the field of view FOV. In other words, the
rotational motor 18 is adjusted in response to adjustment of the
field of view FOV to align the field of view FOV and the field of
illumination FOI. Specifically, the field of illumination FOI may
be adjusted vertically to align the field of view FOV and the field
of illumination FOI.
[0067] After the position of the photodetector 16 has been set for
the new vehicle position as described above, the controller 28 is
programmed to adjust the rotational motor 18 and/or the actuator 50
to align the field of illumination FOI with the field of view FOV,
i.e., adjusting the vertical positions of the field of view FOV
and/or the vertical position of the field of illumination FOI to
align the field of view FOV and the field of illumination FOI. As
one example, the controller 28 may set the position of the field of
view FOV, i.e., set the position of the actuator 50, and vertically
adjust the field of illumination FOI to align the two, i.e., by
changing the rotational position of the rotational motor 18. In
addition to adjusting the rotational motor 18 in such an example,
the controller 28 may adjust the actuator 50, e.g., +/- a
predetermined adjustment angle of the field of view FOV from the
set position, to align the field of view FOV with the field of
illumination FOI.
[0068] As set forth above, the alignment of the field of view FOV
and the field of illumination FOI may be based on maximum detection
of reflected light on an object in the field of view FOV at each
position of the rotational motor 18. In other words, the controller
28 is programmed to vertically adjust the rotational motor 18
and/or the actuator 50 to align the field of view FOV and the field
of illumination FOI to the position that provides the maximum
intensity of light reflected by an object in the field of view
FOV.
[0069] In such an example, the controller 28 is programmed to
identify changes in intensity of light reflected by an object in
the field of view FOV as the rotational motor 18 and/or actuator 50
are adjusted. As an example, the controller 28 may be programmed to
set the position of the field of view FOV and scan through various
vertical positions of the field of illumination FOI to identify the
position of the field of illumination FOI that provides the maximum
intensity of detected reflections, considering the entire field of
view FOV. For example, the controller 28 may be programmed to scan
through a range of adjustments and activate the light emitter 14
during the scan. Based on the detected reflections by the
photodetector 16, the controller 28 may be programmed to determine
the setting of the rotational motor 18 that provides the maximum
intensity reflection. The controller 28 then uses this setting to
position the rotational motor 18 during illumination of the field
of view FOV. In examples that include more than one photodetector
16, the controller 28 may be programmed to perform the adjustment
for any one of the photodetectors 16, all of the photodetectors 16,
or a combination of the photodetectors 16.
[0070] In the example in which the position of the photodetectors
16 is also adjusted to align the field of view FOV and the field of
illumination FOI, the field of view FOV may be set to several other
positions and the controller 28 scans through the various vertical
positions of the field of illumination FOI at each of these
positions of the field of view FOV. During the scanning of the
various vertical positions of the field of view FOV and the various
vertical positions of the field of illumination FOI, the
combination of the vertical position of the field of view FOV and
the vertical position of the field of illumination FOI that provide
the maximum illumination of reflections in the field of view FOV
may be identified. In other words, the controller 28 is programmed
to determine the position of the rotational motor 18 and the
actuator 50 that provide the maximum intensity of light reflected
by an object in the field of view FOV. Once these positions are
identified, the processor is programmed to adjust the rotational
motor 18 and the actuator 50 to these positions, i.e., to center
the field of illumination FOI on the field of view FOV based on the
changes in intensity. Additionally, information obtained from an
inertial measurement unit 56 may indicate to the controller 28,
that an adjustment should be made.
[0071] A method 1600 of operating the system 10 is shown in FIG.
16. The method 1600 is a method of operating the example shown in
FIG. 2, and also includes the steps of operating the examples shown
in FIGS. 3-11. The controller 28 may be programmed to perform the
method of FIG. 16.
[0072] With reference to block 1605, the method includes activating
the light emitter 14 aimed at the mirror assembly including a
rotary shaft and a mirror to generate a field of illumination FOI.
In block 1610, the method includes receiving data from the
photodetector 16 corresponding to detected reflection of light from
the light emitter 14 in the field of view FOV of the photodetector
16. The method includes repeating blocks 1605 and 1610 to
repeatedly illuminate the field of view and detect reflections.
[0073] In examples that include more than one light emitter 14
and/or more than one photodetector 16, steps 1605 and 1610 include
activating more than one light emitter 14 and receiving data from
more than one photodetector 16. For example, step 1605 may also
include activating the second light emitter 14B aimed at the
reflector assembly 20 to generate the second field of illumination
FOI. Similarly, step 1610 may also include receiving data from the
second photodetector 16B indicating detection of light from the
light emitter 14 that was reflected by an object in a field of view
FOV of the second photodetector 16B. As set forth above, two of the
light emitters 14 may be aimed at the same reflector 24 of the
reflector assembly 20, or two of the light emitters 14 may be aimed
at separate reflectors 24 of the reflector assembly 20.
[0074] Decision block 1615 includes the decision that the
photodetector 16 requires vertical adjustment, as described above.
If the photodetector 16 does not require vertical adjustment,
blocks 1605 and 1610 continue to be repeated. If the photodetector
16 does require vertical adjustment, the photodetector 16 is
vertically adjusted, e.g., by operation of the actuator 50, and the
reflector 24 is vertically adjusted, e.g., by rotation of the
rotational motor 18, to align the field of illumination FOI with
the field of view FOV, as shown in blocks 1620-1635. Decision block
1615 could be at any point before, during, or after blocks 1605 and
1610.
[0075] Block 1620 includes vertically adjusting a position of the
photodetector 16. For example, block 1620 may include pivoting the
housing 44 relative to the casing 12, which adjusts the field of
view FOV of the photodetector 16 because the photodetector 16 moves
as a unit with the housing 44. Specifically, the method may include
powering the actuator 50 to extend or retract the plunger 54 to
move the housing 44 relative to the casing 12. The system 10 itself
may determine the desired position to be set in block and/or the
desired position may be based on data and/or instruction from other
components of the vehicle 26.
[0076] Block, 1625 includes rotating the rotary shaft to align the
field of illumination FOI with the field of view FOV. For example,
the method includes scanning through a range of adjustments and
activating the light emitter 14 during the scan. In an example
including a second photodetector 16, rotating the rotary shaft in
step 1625 may also rotating the rotary shaft to align the second
field of illumination FOI with the field of view FOV of the second
photodetector 16.
[0077] At block 1630, the method includes determining the setting
of the rotational motor 18 that provides the maximum intensity
reflection within the field of view FOV. In other words, block 1630
includes identifying changes in intensity of reflections over the
entire field of view FOV as the rotational shaft 22 is rotated
and/or the photodetector 16 is adjusted, and determining the
rotational position of the rotational shaft 22 and the position of
the photodetector 16 that provide the maximum intensity of light
reflected by an object in the field of view FOV. Specially, at each
position, the method includes activating the light emitter 14,
receiving data from the photodetector 16 indicating detection of
light from the light emitter 14 that was reflected by an object in
a field of view FOV, and adjusting the rotational motor 18 to
vertically align the field of view FOV with the field of
illumination FOI. Specifically, in blocks 1630, the method includes
setting the position of the field of view FOV and scanning through
various adjustments of the field of illumination FOI. This data is
used to identify the position of the field of illumination FOI that
provides the maximum intensity of detected reflections.
[0078] At block 1635, the method includes adjusting the rotational
motor 18 to the setting that was determined to provide the maximum
intensity in block 1630. Accordingly, when steps 1605 and 1610 are
subsequently performed, the rotational motor 18 and actuator 50 are
set to provide maximum intensity of detected reflections in the
field of view FOV.
[0079] The disclosure has been described in an illustrative manner,
and it is to be understood that the terminology which has been used
is intended to be in the nature of words of description rather than
of limitation. Many modifications and variations of the present
disclosure are possible in light of the above teachings, and the
disclosure may be practiced otherwise than as specifically
described.
* * * * *